diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 86c860a2..92341a67 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -39,12 +39,12 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    454f89af9d6f3525b1df5f9ef9c86df58bf2d4d3
+    7fd7a3f946e5ac152d28dad388cff8bfa1026925
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_abseil
-    fb3621f4f897824c0dbe0615fa94543df6192f30 # LTS 20230802.1
+    4a2c63365eff8823a5221db86ef490e828306f9d # LTS 20240116.0
     CACHE STRING "Version of `abseil` to be fetched."
 )
 
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index ed90bd7d..428dcda9 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -140,7 +140,7 @@ findorfetch(
   GIT_REPO
   https://github.com/abseil/abseil-cpp
   GIT_TAG
-  fb3621f4f897824c0dbe0615fa94543df6192f30 # LTS 20230802.1
+  4a2c63365eff8823a5221db86ef490e828306f9d # LTS 20240116.0
   TARGETS
   ${MUJOCO_PYTHON_ABSL_TARGETS}
   EXCLUDE_FROM_ALL
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  454f89af9d6f3525b1df5f9ef9c86df58bf2d4d3
+  7fd7a3f946e5ac152d28dad388cff8bfa1026925
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL
diff --git a/test/user/user_composite_test.cc b/test/user/user_composite_test.cc
index dc3bc03c..1d0dabf1 100644
--- a/test/user/user_composite_test.cc
+++ b/test/user/user_composite_test.cc
@@ -14,6 +14,7 @@
 
 // Tests for user/user_model.cc.
 
+#include <array>
 #include <cstddef>
 #include <string>